Moving in with moveit?
Closed this issue · 3 comments
Hey @shaun-edwards,
You just pointed at this package from ros-answers, so I had a look.
It is a great idea to create a ``small brother'' of the move_group node, that can be instantiated/controlled in a C++ context without ROS interaction!
The MoveGroup action outgrew the simple industrial use-case quite some time ago and this would remove complexity for some applications quite a lot.
What do you think about integrating this into the MoveIt repository in kinetic?
That would probably give it a bit more users and because we bump sonames in every release of kinetic, you don't have to consider ABI breakage. :)
I do understand that quite a bit of intended functionality is missing here at the moment.
@v4hn, I'm honored by your request. I've approach @davetcoleman about this as well. He's given me some great feedback, here.
I've got some work to do before it's minimally functional. My plan is to submit it for inclusion in MoveIt once that's done. I am interested to get feedback as I develop, so it doesn't seem like I'm pushing it into MoveIt as take it or leave it.
I see, glad to hear this is being discussed. :)
I hope you find the time to incorporate the feedback and let's see how the module moves on.
Personally I would prefer to see such a project integrated early and continue developing from there - clearly not just move it over as ``take it or leave it''. But that's your choice, and I don't know what the other devs think about that. :)
Feel free to ping me if you need more feedback (although apparently you have plenty :) )
I'll close this issue for now.
+1 for the idea.
I think we can keep this open for better visibility (I didn't notice until I used search feature onGitHub issue view).